diff options
author | Robert Adams | 2013-08-22 09:08:58 -0700 |
---|---|---|
committer | Robert Adams | 2013-09-11 09:12:12 -0700 |
commit | 30b3657a66e5a4012b96baae2c0424ec13409f83 (patch) | |
tree | 3892adaa1534d3f36ecbc6ab6807ad0040736b75 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |
parent | BulletSim: add requestor's ID to post taint detail log message. (diff) | |
download | opensim-SC_OLD-30b3657a66e5a4012b96baae2c0424ec13409f83.zip opensim-SC_OLD-30b3657a66e5a4012b96baae2c0424ec13409f83.tar.gz opensim-SC_OLD-30b3657a66e5a4012b96baae2c0424ec13409f83.tar.bz2 opensim-SC_OLD-30b3657a66e5a4012b96baae2c0424ec13409f83.tar.xz |
BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters.
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | 52 |
1 files changed, 41 insertions, 11 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a9ae89d..be97c29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
@@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
67 | { | 67 | { |
68 | constraint = null; | 68 | constraint = null; |
69 | ResetLink(); | 69 | ResetLink(); |
70 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID); | ||
70 | } | 71 | } |
71 | 72 | ||
72 | // Set all the parameters for this constraint to a fixed, non-movable constraint. | 73 | // Set all the parameters for this constraint to a fixed, non-movable constraint. |
@@ -91,11 +92,13 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
91 | frameInBrot = OMV.Quaternion.Identity; | 92 | frameInBrot = OMV.Quaternion.Identity; |
92 | springDamping = -1f; | 93 | springDamping = -1f; |
93 | springStiffness = -1f; | 94 | springStiffness = -1f; |
95 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); | ||
94 | } | 96 | } |
95 | 97 | ||
96 | // Given a constraint, apply the current constraint parameters to same. | 98 | // Given a constraint, apply the current constraint parameters to same. |
97 | public override void SetLinkParameters(BSConstraint constrain) | 99 | public override void SetLinkParameters(BSConstraint constrain) |
98 | { | 100 | { |
101 | member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); | ||
99 | switch (constraintType) | 102 | switch (constraintType) |
100 | { | 103 | { |
101 | case ConstraintType.FIXED_CONSTRAINT_TYPE: | 104 | case ConstraintType.FIXED_CONSTRAINT_TYPE: |
@@ -139,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
139 | if (springDamping != -1) | 142 | if (springDamping != -1) |
140 | constrainSpring.SetDamping(ii, springDamping); | 143 | constrainSpring.SetDamping(ii, springDamping); |
141 | if (springStiffness != -1) | 144 | if (springStiffness != -1) |
142 | constrainSpring.SetStiffness(ii, springStiffness); | 145 | constrainSpring.SetStiffness(ii, springStiffness); |
143 | } | 146 | } |
144 | } | 147 | } |
145 | break; | 148 | break; |
@@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
155 | public override bool ShouldUpdateChildProperties() | 158 | public override bool ShouldUpdateChildProperties() |
156 | { | 159 | { |
157 | bool ret = true; | 160 | bool ret = true; |
158 | |||
159 | if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) | 161 | if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) |
160 | ret = false; | 162 | ret = false; |
161 | 163 | ||
@@ -193,10 +195,16 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
193 | { | 195 | { |
194 | // Queue to happen after all the other taint processing | 196 | // Queue to happen after all the other taint processing |
195 | m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() | 197 | m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() |
198 | { | ||
199 | if (HasAnyChildren) | ||
196 | { | 200 | { |
197 | if (HasAnyChildren) | 201 | // Constraints that have not been changed are not rebuild but make sure |
198 | RecomputeLinksetConstraints(); | 202 | // the constraint of the requestor is rebuilt. |
199 | }); | 203 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); |
204 | // Rebuild the linkset and all its constraints. | ||
205 | RecomputeLinksetConstraints(); | ||
206 | } | ||
207 | }); | ||
200 | } | 208 | } |
201 | } | 209 | } |
202 | 210 | ||
@@ -415,13 +423,22 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
415 | rootPrim.LocalID, rootPrim.PhysBody.AddrString, | 423 | rootPrim.LocalID, rootPrim.PhysBody.AddrString, |
416 | childPrim.LocalID, childPrim.PhysBody.AddrString); | 424 | childPrim.LocalID, childPrim.PhysBody.AddrString); |
417 | 425 | ||
418 | // Find the constraint for this link and get rid of it from the overall collection and from my list | 426 | // If asked to unlink root from root, just remove all the constraints |
419 | if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | 427 | if (rootPrim == childPrim || childPrim == LinksetRoot) |
420 | { | 428 | { |
421 | // Make the child refresh its location | 429 | PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); |
422 | m_physicsScene.PE.PushUpdate(childPrim.PhysBody); | ||
423 | ret = true; | 430 | ret = true; |
424 | } | 431 | } |
432 | else | ||
433 | { | ||
434 | // Find the constraint for this link and get rid of it from the overall collection and from my list | ||
435 | if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) | ||
436 | { | ||
437 | // Make the child refresh its location | ||
438 | m_physicsScene.PE.PushUpdate(childPrim.PhysBody); | ||
439 | ret = true; | ||
440 | } | ||
441 | } | ||
425 | 442 | ||
426 | return ret; | 443 | return ret; |
427 | } | 444 | } |
@@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
521 | BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; | 538 | BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; |
522 | if (linkInfoC != null) | 539 | if (linkInfoC != null) |
523 | { | 540 | { |
524 | // Setting to fixed is easy. The reset state is the fixed link configuration. | ||
525 | linkInfoC.ResetLink(); | ||
526 | linkInfoC.constraintType = (ConstraintType)requestedType; | 541 | linkInfoC.constraintType = (ConstraintType)requestedType; |
527 | ret = (object)true; | 542 | ret = (object)true; |
528 | DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", | 543 | DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", |
@@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
589 | BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; | 604 | BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; |
590 | if (linkInfo != null) | 605 | if (linkInfo != null) |
591 | { | 606 | { |
607 | int valueInt; | ||
592 | float valueFloat; | 608 | float valueFloat; |
593 | bool valueBool; | 609 | bool valueBool; |
594 | OMV.Vector3 valueVector; | 610 | OMV.Vector3 valueVector; |
@@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset | |||
602 | linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); | 618 | linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); |
603 | switch (thisOp) | 619 | switch (thisOp) |
604 | { | 620 | { |
621 | case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: | ||
622 | valueInt = (int)pParams[opIndex + 1]; | ||
623 | ConstraintType valueType = (ConstraintType)valueInt; | ||
624 | if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE | ||
625 | || valueType == ConstraintType.D6_CONSTRAINT_TYPE | ||
626 | || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE | ||
627 | || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE | ||
628 | || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE | ||
629 | || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE) | ||
630 | { | ||
631 | linkInfo.constraintType = valueType; | ||
632 | } | ||
633 | opIndex += 2; | ||
634 | break; | ||
605 | case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: | 635 | case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: |
606 | valueVector = (OMV.Vector3)pParams[opIndex + 1]; | 636 | valueVector = (OMV.Vector3)pParams[opIndex + 1]; |
607 | linkInfo.frameInAloc = valueVector; | 637 | linkInfo.frameInAloc = valueVector; |